JPS6049323B2 - Moving object tracking control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a tracking control device for a moving object suitable for application, for example, to controlling the course of an excavator excavating a tunnel.

In order to excavate a tunnel in a predetermined direction, it is necessary to guide the excavation direction using a certain reference value.

Conventionally, this guide transfers the azimuth reference value measured in the outside world to a theodolite installed inside the tunnel, and the tunnel is dug based on the azimuth indicated by this theodolite. For this reason, the work of transferring reference values from the outside world to the theodolite inside the tunnel is troublesome and time consuming. Furthermore, as the tunnel is dug, it is necessary to transfer the reference value to the theodolite located at the back.This also requires time and effort.Also, each time the reference value is transferred to another theodolite, the error gradually increases. is added up, and the error tends to increase as you go deeper into the tunnel.Also, the theodolite is manually operated, so if the tunnel is large, you can use a theodolite. For example, in tunnels for laying telephone lines or sewerage systems, the diameter of the tunnel is so small that humans may not be able to enter.Such small-diameter tunnels can be excavated automatically by digging a vertical hole and inserting an automatic excavator through this vertical hole. A method is adopted in which a tunnel is dug in a predetermined direction using a machine.Some automatic excavators are already equipped with an excavator attitude detection device so that they can perform excavation work automatically.

FIG. 1 shows an example of this. If 1 in the figure is an excavator, the axis of the excavator 1 in the excavation direction is the Z axis, and the two axes mutually perpendicular to the Z axis are the x axis and the Y axis, then The direction of the Z-axis about the axis is expressed as an azimuth angle ψ, which is detected by a gyro. Further, rotation about the Y axis is called pitch angle 0, which is detected by an accelerometer. Furthermore, the rotation about the Z axis is called the roll angle φ, which is also detected by the accelerometer. In this way, the azimuth angle ψ, which determines the excavation direction using a gyro and two accelerometers, and the pitch angle θ,
The excavation is carried out by detecting the roll angle φ and comparing these detection signals with a reference value. However, with this control method, the attitude of the excavator 1 does not change even if the axes X, Y, and Z move in parallel, so there is a drawback that the parallel movement cannot be detected.

Therefore, even in this case, it is necessary to monitor parallel movement using a theodolite. For this reason, we brought a theodolite into the tunnel and transferred the reference value from the outside world to this theodolite.
This reference value must be sequentially moved to the back of the tunnel, which requires manpower and time. The purpose of this invention is to set a reference value for the excavation direction! An object of the present invention is to provide a moving object tracking control device that can perform tracking at any position within a wall.

In this invention, a laser light source is provided at a position away from the excavator, and this laser light source is attached to a support means that allows its beam axis to rotate about the three axes X, Y, and Z as described above. Standard values for the axis angle are determined using a gyro for the azimuth angle ψ, and by an accelerometer for the pitch angle 0 and roll angle φ, and the desired excavation direction is defined from these standard values and then determined. A laser beam is irradiated in the direction.

On the other hand, the excavator is provided with a light receiver, which is configured to receive the laser beam and detect the attitude and parallel movement of the excavator with reference to the laser beam. Therefore, according to this invention, the excavation direction can be defined at any position in the tunnel, and the excavator can
It is possible to provide an automatic tracking device that can detect parallel movement about an axis.

An embodiment of the present invention will be described in detail below with reference to the drawings.

FIG. 2 is a drawing for explaining the outline of this invention device.

In the figure, 2 indicates the tunnel, and 3 indicates the ground. tunnel 2
The state in which the excavator 1 is already placed at the tip of the figure is shown. A laser light source 4 is installed at a position away from the rear of the excavator 1. This example shows a case where the laser light source 4 is attached to the ceiling of the tunnel 2. A laser beam 5 emitted from a laser light source 4 is irradiated toward the rear of the excavator 1. Drilling/
A light receiver 6 is attached to the rear of the aircraft 1. This receiver 6
The mounting position is a certain distance Q from the axis Z of the excavator 1. The laser beam 5 is received by the light receiver 6, whereby a signal regarding the attitude and parallel movement of the excavator 1 is obtained from the light receiver 6, and the detection signal is transmitted to the data provided on the ground 3 through a cable 7, for example. Processing device 8
sent to. The data processing device 8 compares the attitude detection signal of the excavator 1 with a reference value that defines the excavation direction obtained from the support device 4a that supports the laser light source 4, and returns the comparison result to the excavator 1 via the cable 9. This signal is used to control, for example, a hydraulic jack (not particularly shown) that steers the excavation direction of the excavator 1, and the excavation direction of the excavator 1 is guided by the laser beam 5. be. Next, the configuration of each part will be explained in order.

FIG. 3 shows a support device 4a for the laser light source 4. As shown in FIG.

This support device 4a has a base 10, on which two axes Y. ! ．． Two gimbals 11 and 12 are attached with the Z-axis as a rotational fulcrum. In other words, in the example shown in the figure, Z
The gimbal 11, which uses the shaft as a rotation fulcrum, is supported by a shaft 14 rotatably attached to a pair of legs 13-13 formed by bending the base 10. The gimbal 12 whose pivot point is the Y axis is a shaft 15 attached to the gimbal 11.
Supported by. Motors (hereinafter referred to as motors) M1 and M2 that can obtain a rotation angle proportional to the signal amount are attached to each axis 14 and 15, respectively. It is configured so that it can rotate around the center. Further, accelerometers Gl and G2 are attached to each axis 14 and 15 to detect a reference value, that is, the inclination of the gimbals 11 and 12 from a horizontal state. A motor M3 is attached to the gimbal 12, and the output shaft of the motor M3 is connected to a shaft 16 via a reduction gear mechanism as necessary, so that the shaft 16 can be rotated by the motor M3. The axis 16 has an X axis that is perpendicular to the Y and Z axes as its axis, and a table 17 is attached to the tip thereof at right angles to the x axis. The laser light source 4 and the gyro 18 are mounted on the table 17, thus forming a support device 4a for the laser light source 4. In this way, the laser light source 4 is held so that it can be rotated about all the X, Y, and Z axes, and the laser beam 5 can be directed in any direction by the support device 4a without moving the base 10. Can be irradiated.

However, the table 17 can be accurately adjusted to a reference value, for example, the horizontal state, by the two gimbals 11, 12, the motors Ml, M2, and the accelerometers Gl, G2. can be detected. By operating the gimbals 11 and 12 and the table 17 using motors M1, M2, and M3, respectively, the direction of the laser light source 4 can be changed to any desired direction by controlling these motors M1 to M3 from the data processing device 8, for example. can be remotely controlled. When attaching the base 10 to the ceiling of the tunnel 2, for example, attach it so that the axis Z is parallel to the axis of the tunnel 2. When changing the pitch angle of the relay laser beam 5, rotate this Y axis. It is convenient because it is only necessary to rotate only the jinpal 12, which is the axis. Further, in order to change the irradiation direction of the laser beam 5, it is sufficient to drive the motor M3. Therefore, according to this support device 4a, the direction of the laser beam 5 can be made to match the reference value, for example, horizontal and facing due north, or can be defined in any desired direction at any position within the tunnel.

These directions are specified by inputting specified values to the data processing device 8 as input commands 10. Therefore, if the tunnel excavation direction at a certain position in the tunnel 2 is known, the laser beam 5 can be irradiated in that direction. However, the direction of the beam 5 can be determined from the ground, and it can also be used in tunnels where humans cannot enter. On the other hand, the light receiver 6 mounted on the excavator 1 is provided with a surface scanning device 20 at its tip on the side that receives the laser beam 5, as shown in FIGS. 4 and 5.

In this surface scanning device 20, for example, mutually parallel screw shafts 21-21 are vertically set up, and both ends of a bar 22 are screwed onto the pair of screw shafts 21-21. The screw shafts 21-21 are driven to rotate in the same direction from, for example, a shaft 23a of a pulse motor 23 through bevel gears 24, 25, and 26, and the bar 22 is reciprocated up and down by the screw feed of the screw shaft 21-21. A plurality of photoelectric conversion elements 27 are arranged in a line on the bar 22 and scan the surface of the entrance of the light receiver 6. Therefore, when the excavator 1 is excavating accurately along the laser beam 5, the laser beam 5 is incident on the axis of the light receiver 6.

Therefore, when the bar 22 passes through the center of the screw shaft 21-21, it intersects with the laser beam 5, and at this time a light reception signal is obtained from the photoelectric conversion element attached to the center of the bar 22. Further, when the excavator 1 causes parallel movement with respect to the X, Y, and Z axes explained in FIG. 1, the position where the bar 22 and the laser beam 5 intersect changes, and the parallel movement can be detected. Also, an attitude detection device 28 behind this surface scanning device 20 detects the pitch angle, roll angle, and azimuth angle of the excavator 1.
is provided.

This attitude detection device 28 is composed of a barrel 30 having a lens 29 attached to its open end, and a photoelectric conversion element group 31 attached to the rear end of the barrel 30. The axis of the body 30 is the excavator 1
is mounted parallel to the axis Z of the For example, as shown in FIG. 6, the photoelectric conversion element group 31 has a plurality of seven photoelectric conversion elements arranged in a matrix inside a circle.

The intersection of the P-P line and the Q-Q line of this photoelectric conversion element group 31 is set as the center of this element group 31, and the optical axis of the lens 29 is made to coincide with this center. It is placed so that it fits exactly. Further, the optical axis of the lens 29 is made to coincide with the center position of the surface scanning device 20. Furthermore, an accelerometer 32 whose input axis is the Y-axis for detecting the roll angle of the excavator 1 is attached as one of the attitude detection means. With this configuration, when the laser beam 5 is incident on the axis of the light receiver 6, the laser beam 5
is incident on the center of the surface scanning device 20, and the attitude detection device 2
8, a laser beam 5 is applied to the central element of the photoelectric conversion element group 31.
is incident.

Assuming that the excavator 1 moves in parallel in the X and Y axis directions, the incident position of the laser beam 5 that enters the surface scanning device 20 changes, and the amount of the translation is detected. Furthermore, when the attitude of the excavator 1 changes, the incident point of the laser beam 5 changes to the photoelectric element group 31.
The attitude of the excavator 1 can be detected based on the amount of deviation from the center position and the output of the accelerometer 32. For example, when the output of the accelerometer 32 is zero, that is, when the roll angle φ is φ=
02, when the laser beam 5 is incident on the photoelectric conversion element at point S in FIG. 6, the pitch angle 0 is found as θ=L, and the azimuth angle ψ is found as ψ=L.

This calculation is performed by the data processing device 8, and the excavator 1 is steered based on the calculated value. However, L is the distance between the lens 29 and the photoelectric conversion element group 31, and distances a and b are the distances from the P-P line and the Q-Q line to the S point. When an output is generated in the accelerometer 32, the roll angle φ is detected based on the output.

When the roll angle φ occurs, the photoelectric conversion element group 31
It moves by an amount corresponding to the roll angle φ, as shown in FIG. In the example shown in FIG. 7, the photoelectric conversion element group 31 moves from the position indicated by the dotted line to the position indicated by the solid line due to the occurrence of the roll angle φ. Therefore, the coordinates A, b of the incident point S of the laser beam 5 are returned to the coordinates a'', 2b'' when the element group 31 is in the original position shown by the dotted line, and the coordinates a'', b
It is necessary to calculate the azimuth angle ψ and pitch angle θ using
)...(1) b″:b+Qsinφ
...It is given by (2).

In the above description, it was assumed that the laser beam 5 is incident on the axis of the receiver 6 when the direction of the laser light source 4 is set to the design value of the tunnel at that position, but in practice, such an ideal state is not possible. I can't hope. Therefore, it is necessary to shift the direction of the laser light source 4 from the tunnel design value and adjust the direction so that the laser beam 5 enters the light receiver 6. When the laser beam is set to be shifted from the tunnel design value, it is necessary to compare the data obtained from the light receiver 6 with the reference value while correcting the amount of shift each time the excavator 1 moves forward. This correction is performed by storing the amount of deviation from the true direction in the data processing device 8, and using this stored value. As explained above, according to the present invention, the irradiation direction of the laser beam 5 can be set in a desired direction within the tunnel 2.

Therefore, the standard for the excavation direction can be easily set. Moreover, since the light receiver 6 mounted on the excavator 1 is equipped with a surface scanning device 20, an attitude detection device 281, and an accelerometer 32 for detecting roll angle, the parallel movement of the excavator 1 can be detected by the surface scanning device 20. , the pitch angle θ, the azimuth angle ψ, and the roll angle φ of the excavator 1 can be detected by the attitude detection device 28 and the accelerometer 32. Moreover, since the supporting device 4a of the laser light source 4 can remotely control the direction of the laser light source 4 using the respective motors M1, M2, and M3, it is particularly suitable for use in excavating tunnels that cannot be accessed by humans. For ease of understanding, the support device 4a is shown with the accelerometers Gl and G2 fixed on the support shafts of the gimbals 11 and 12, but it can also be placed on the table 17 and corrected by the data processing device 8 before use. I can do it.

Alternatively, the shaft 14 and gimbal 11 of the support device 4a may be omitted, the shaft 15 may be directly supported on the legs 13-13 of the base 10, the accelerometer G1 may be placed on the table 17, and the data processing device 8 may be used for correction. You can also do it. Although the tracking device according to the present invention is applied to an excavator in the above description, it is easy to understand that the tracking device is not limited to an excavator and can be applied to tracking and guiding other moving objects.

[Brief explanation of the drawing]

FIG. 1 is a schematic perspective view for explaining a conventional method for detecting the attitude of an excavator, FIG. 2 is a sectional view for explaining an overview of the device according to the present invention, and FIG. 3 is a laser beam of the device according to the present invention. A perspective view showing an example of a light source support device, FIG. 4 is a front view of a light receiver used in the device according to the present invention, FIG. 5 is a sectional view of the light receiver as seen from the side, and FIG. 6 is a main part of the light receiver. FIG. 7 is an enlarged front view for explaining the operation of the light receiver. 1... Excavator, 2... Tunnel, 4.
... Loser light source, 4a ... Loser light source support device, 5 ... Loser beam, 6 ... Light receiver,
8...Data processing device.

Claims (1)

[Claims] 1 A It has an azimuth detector and a detector that detects the inclination of two mutually orthogonal axes included in one plane from a reference plane, and the azimuth angle and the above two axes are detected by a driving means. B. A laser light source that is supported by this support and emits a laser beam in a set direction; C. A laser light source that is attached to a moving object and arranged in a matrix on a plane. The laser beam emitted from the laser light source is received by any of the photoelectric conversion elements of the photoelectric conversion element group, and the amount of azimuth deviation in the moving direction of the moving object is determined. , an attitude detection device that detects the amount of pitch angle deviation, and D
A surface scanning device attached to a moving object and detecting the amount of parallel movement in the moving direction of the moving object by scanning a surface perpendicular to the laser beam path from the laser light source, and an accelerometer detecting the roll angle of the moving object. And, F remotely controls the support base and sets the irradiation direction of the laser beam irradiated from the laser light source to an arbitrary direction according to the input value, and uses the set laser beam direction as a reference for the attitude detection device. The amount of deviation between the azimuth angle and the pitch angle of the moving object detected by this method, the amount of parallel movement of the moving object from the reference axis detected by the surface scanning device, and the amount of translation of the moving object detected by the accelerometer. a data processing device that calculates the amount of course deviation of the moving object from the deviation amount of the roll angle and controls the course of the moving object;
A moving object tracking control device comprising: